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feat(gimbal): use robot_center for dual-yaw targeting and tune PID params #84

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feat(gimbal): use robot_center for dual-yaw targeting and tune PID params #84

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24 changes: 12 additions & 12 deletions rmcs_ws/src/rmcs_bringup/config/sentry.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ sentry_hardware:
board_serial_bottom_board: "af-79cf"
board_serial_gimbal_board: "af-8b8b"

pitch_motor_zero_point: 12347
pitch_motor_zero_point: 12158

bottom_yaw_motor_zero_point: 54551
top_yaw_motor_zero_point: 33409
Expand All @@ -61,22 +61,22 @@ gimbal_controller:
upper_limit: -0.65
lower_limit: 0.36

top_yaw_angle_kp: 45.0
top_yaw_angle_ki: 0.0
top_yaw_angle_kd: 0.0
top_yaw_angle_kp: 35.0
top_yaw_angle_ki: 0.008
top_yaw_angle_kd: 0.005
top_yaw_velocity_kp: 2.160
top_yaw_velocity_ki: 0.0
top_yaw_velocity_ki: 0.00
top_yaw_velocity_kd: 0.0

bottom_yaw_angle_kp: 12.0
bottom_yaw_angle_ki: 0.0
bottom_yaw_angle_kd: 0.0
bottom_yaw_velocity_kp: 22.5
bottom_yaw_velocity_ki: 0.0
bottom_yaw_velocity_kd: 0.0
bottom_yaw_angle_kp: 9.5
bottom_yaw_angle_ki: 0.001
bottom_yaw_angle_kd: 0.0003
bottom_yaw_velocity_kp: 18.0
bottom_yaw_velocity_ki: 0.00
bottom_yaw_velocity_kd: 0.00

pitch_angle_kp: 32.0
pitch_angle_ki: 0.0
pitch_angle_ki: 0.01
pitch_angle_kd: 0.0
pitch_velocity_kp: 2.5
pitch_velocity_ki: 0.0
Expand Down
36 changes: 29 additions & 7 deletions rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,27 @@ class EccentricDualYaw
const auto xy_norm = std::hypot(dir.x(), dir.y());
const auto pitch =
std::clamp(std::atan2(-dir.z(), xy_norm), upper_limit_, lower_limit_);
const auto yaw = std::atan2(dir.y(), dir.x());
const auto control_yaw = std::atan2(dir.y(), dir.x());

const auto camera_pose = fast_tf::lookup_transform<OdomImu, CameraLink>(*input_.tf);
const auto camera_pos = camera_pose.translation();
const auto robot_center = *input_.auto_aim_robot_center;
Eigen::Vector3d diff{
robot_center.x() - camera_pos.x(),
robot_center.y() - camera_pos.y(),
robot_center.z() - camera_pos.z(),
};
double center_yaw;
if (diff.norm() > 1e-9) {
diff.normalize();
center_yaw = std::atan2(diff.y(), diff.x());
} else {
center_yaw = 0.0;
}

const auto command = ControlTarget{
.bottom_yaw = {.target = yaw},
.top_yaw = {.target = 0.0},
.bottom_yaw = {.target = center_yaw},
.top_yaw = {.target = limit_rad(control_yaw - center_yaw)},
.pitch = {.target = pitch},
};
apply_control(command);
Expand Down Expand Up @@ -170,6 +186,7 @@ class EccentricDualYaw
component.register_input("/auto_aim/pitch_rate", auto_aim_pitch_rate, false);
component.register_input("/auto_aim/yaw_acc", auto_aim_yaw_acc, false);
component.register_input("/auto_aim/pitch_acc", auto_aim_pitch_acc, false);
component.register_input("/auto_aim/robot_center", auto_aim_robot_center, false);
component.register_input(
"/rmcs_navigation/enable_control", navigation_enable_control, false);
component.register_input("/rmcs_navigation/gimbal_toward", navigation_toward, false);
Expand All @@ -191,8 +208,12 @@ class EccentricDualYaw
if (!auto_aim_control_direction.ready())
return false;
const auto& dir = *auto_aim_control_direction;
if (!auto_aim_robot_center.ready())
return false;
const auto& center = *auto_aim_robot_center;
return !dir.isZero() && std::isfinite(dir.x()) && std::isfinite(dir.y())
&& std::isfinite(dir.z());
&& std::isfinite(dir.z()) && !center.isZero() && std::isfinite(center.x())
&& std::isfinite(center.y()) && std::isfinite(center.z());
}

auto enable_navigation() const noexcept -> bool {
Expand Down Expand Up @@ -220,6 +241,7 @@ class EccentricDualYaw
InputInterface<double> chassis_yaw_velocity_imu;

InputInterface<Eigen::Vector3d> auto_aim_control_direction;
InputInterface<Eigen::Vector3d> auto_aim_robot_center;
InputInterface<double> auto_aim_yaw_rate;
InputInterface<double> auto_aim_pitch_rate;
InputInterface<double> auto_aim_yaw_acc;
Expand Down Expand Up @@ -379,12 +401,12 @@ class EccentricDualYaw
pitch_velocity_ref)
+ pitch_gravity_ff_gain_ * std::sin(current_pitch_angle - pitch_gravity_ff_phase_);

*output_.bottom_yaw_control_torque =
bottom_yaw_velocity_pid_.update(bottom_velocity_ref - current_bottom_velocity)
+ bottom_yaw_torque_ff;
*output_.top_yaw_control_torque =
top_yaw_velocity_pid_.update(top_velocity_ref - *input_.top_yaw_velocity)
+ top_yaw_torque_ff;
*output_.bottom_yaw_control_torque =
bottom_yaw_velocity_pid_.update(bottom_velocity_ref - current_bottom_velocity)
+ bottom_yaw_torque_ff;
*output_.pitch_control_torque =
pitch_velocity_pid_.update(pitch_velocity_ref - *input_.pitch_velocity)
+ pitch_torque_ff;
Expand Down